System

This application claims priority to Japanese Patent Application No. 2024-228091 filed on December 25, 2024, which is incorporated herein by reference in its entirety.

The present disclosure relates to a system.

Japanese Translation of PCT International Application Publication No. JP-T-2017-538619 discloses a technology to control a vehicle to run autonomously or by remote control in a production step of the vehicle.

In a production step of a vehicle, inspection of a speedometer that displays vehicle speed of the vehicle is performed. This inspection is performed by comparison between speed measured by inspection equipment including a roller that is rotatable while supporting a wheel and speed displayed on the speedometer equipped on the vehicle. Here, the speed displayed on the speedometer is measured visually by an inspector, and thus the inspection result may depend on the inspector's skill.

The present disclosure is achievable as the following aspects.

According to one aspect of the present disclosure, a system is provided. The system includes a first acquisition unit, a second acquisition unit, and an inspection execution unit. The first acquisition unit acquires first speed from inspection equipment. The inspection equipment includes a roller that is rotatable while supporting a wheel of a vehicle and measures speed of the vehicle by utilizing a rotation of the roller. The first speed is the speed measured by the inspection equipment. The second acquisition unit acquires second speed during measurement of the speed of the vehicle by using the inspection equipment. The second speed is speed displayed on a display device included in the vehicle to display the speed of the vehicle. The inspection execution unit uses the acquired first speed and the acquired second speed to execute inspection of the display device.

The present disclosure can be implemented in aspects other than the aspect as the system described above. Examples of the aspects include a control device, a vehicle, an inspection method, a program to implement an inspection method, and a program product including a program. The program product may be, for example, a non-transitory recording medium recording a program, or intangible software distributable over a network.

1 FIG. 50 50 100 50 200 300 is a conceptual diagram illustrating a configuration of a systemaccording to a first embodiment. The systemexecutes control and inspection of one or more vehiclesas a moving object(s). The systemincludes a serverand one or more sensors.

In the present disclosure, the “moving object” means an object capable of moving, and is a vehicle or an electric vertical takeoff and landing aircraft (so-called flying-automobile), for example. The vehicle may be a vehicle to run with a wheel or may be a vehicle to run with a continuous track, and may be a passenger car, a truck, a bus, a two-wheel vehicle, a four-wheel vehicle, or a construction vehicle, for example. The vehicle includes a battery electric vehicle (BEV), a gasoline automobile, a hybrid automobile, and a fuel cell automobile. When the moving object is other than a vehicle, the term “vehicle” or “car” in the present disclosure is replaceable with a “moving object” as appropriate, and the term “run” is replaceable with “move” as appropriate.

100 100 100 100 100 100 The vehicleis configured to be capable of running by unmanned driving. The “unmanned driving” means driving independent of running operation by a passenger. The running operation means operation relating to at least one of “run,” “turn,” and “stop” of the vehicle. The unmanned driving is realized by automatic remote control or manual remote control using a device provided outside the vehicleor by autonomous control by the vehicle. A passenger not involved in running operation may be on-board a vehicle running by the unmanned driving. The passenger not involved in running operation includes a person simply sitting in a seat of the vehicleand a person doing work such as assembly, inspection, or operation of switches different from running operation while on-board the vehicle. Driving by running operation by a passenger may also be called “manned driving.”

100 100 100 100 100 100 100 100 100 100 In the present specification, the “remote control” includes “complete remote control” by which all motions of the vehicleare completely determined from outside the vehicle, and “partial remote control” by which some of the motions of the vehicleare determined from outside the vehicle. The “autonomous control” includes “complete autonomous control” by which the vehiclecontrols a motion of the vehicleautonomously without receiving any information from a device outside the vehicle, and “partial autonomous control” by which the vehiclecontrols a motion of the vehicleautonomously using information received from a device outside the vehicle.

50 100 1 2 1 2 1 100 100 1 2 1 1 2 100 In this embodiment, the systemis used in a factory FC where the vehicleis produced. The reference coordinate system of the factory FC is a global coordinate system GC and a location in the factory can be expressed by X, Y, and Z coordinates in the global coordinate system GC. The factory FC includes a first place PLand a second place PL. The first place PLand the second place PLare connected to one another through a track TRon which the vehicleis runnable. The vehiclemoves by unmanned driving from the first place PLto the second place PLthrough the track TR. At the first place PLand the second place PL, assembly and a variety of inspections to produce the vehicleare performed.

500 2 100 2 500 500 Inspection equipmentis provided at the second place PL. The vehiclethat has moved to the second place PLmoves onto the inspection equipmentby unmanned driving to undergo inspection. Details of the inspection equipmentwill be described later.

1 2 300 300 100 300 100 100 300 300 200 At the first place PL, the second place PL, and the track TR, a plurality of sensorsis disposed. The sensoris a sensor located outside the vehicle. The sensorin this embodiment is a sensor that captures the vehiclefrom outside of the vehicle. The sensorincludes, for example, a camera. The sensorincludes a communication device (not illustrated) and can communicate with another device, such as the server, by wired or wireless communication.

2 FIG. 50 100 100 110 100 120 110 130 200 140 100 150 120 100 100 100 is a block diagram illustrating configurations of the systemand the vehicle. The vehicleincludes a vehicle control deviceto control each part of the vehicle, an actuator groupincluding one or more actuators that perform driving under control of the vehicle control device, a communication deviceto communicate with an external device, such as the server, by wireless communication, a display devicethat displays speed of the vehicle, and a vehicle cabin camera. The actuator groupincludes an actuator of a driving device for accelerating the vehicle, an actuator of a steering device for changing a traveling direction of the vehicle, and an actuator of a braking device for decelerating the vehicle.

110 111 112 113 114 111 112 113 114 120 130 113 111 1 112 115 110 140 The vehicle control deviceincludes a computer including a processor, a memory, an input/output interface, and an internal bus. The processor, the memory, and the input/output interfaceare coupled to one another via the internal busin a bidirectionally communicable manner. The actuator groupand the communication deviceare coupled to the input/output interface. The processorexecutes a program PGstored in the memory, thus implementing various functions including a function as a vehicle control unit. Moreover, the vehicle control devicecontrols the display device.

115 120 100 115 200 120 100 100 100 100 100 The vehicle control unitcontrols the actuator groupto cause the vehicleto run. The vehicle control unitcan use a running control signal received from the serverto control the actuator group, thereby causing the vehicleto run. The running control signal is a control signal to cause the vehicleto run. In the present embodiment, the running control signal includes an acceleration and a steering angle of the vehicleas parameters. In other embodiments, the running control signal may include the speed of the vehicleas a parameter instead of or in addition to the acceleration of the vehicle.

140 100 100 100 100 110 100 140 100 The display deviceis a so-called speedometer that displays speed of the vehicle. The speed of the vehicleis measured by using a vehicle speed sensor provided to the vehicle. The vehicle speed sensor detects a number of rotations of a wheel of the vehicle. The vehicle control deviceuses the detected number of rotations of the wheel and a perimeter of the wheel to calculate the speed of the vehicle. The calculated speed is transmitted to the display device. The vehicle speed sensor may calculate the speed of the vehicleby any method, not limited to the above methods.

150 100 150 140 140 150 200 130 The vehicle cabin camerais provided to the vehicle, images a vehicle cabin, and outputs image data. The vehicle cabin camerain this embodiment includes the display devicewithin an angle of view. It can be said that the speed displayed on the display deviceis acquired by the vehicle cabin camera. The image data is transmitted to the servervia the communication device.

200 201 202 203 204 201 202 203 204 205 200 203 205 100 300 201 2 202 211 212 213 214 The serverincludes a computer including a processor, a memory, an input/output interface, and an internal bus. The processor, the memory, and the input/output interfaceare coupled to one another via the internal busin a bidirectionally communicable manner. A communication deviceto communicate with various devices outside of the serveris coupled to the input/output interface. The communication devicecan communicate with the vehicleby wireless communication and can communicate with each sensorby wired or wireless communication. The processorexecutes a program PGstored in the memory, thus implementing various functions including functions as a remote control unit, a first acquisition unit, a second acquisition unit, and an inspection execution unit.

211 120 100 211 100 100 211 100 211 The remote control unitacquires a detection result of the sensor and uses the detection result to generate the running control signal to control the actuator groupof the vehicle. The remote control unitthen transmits the running control signal to the vehicleto control unmanned driving of the vehicle. The remote control unitmay generate and output not only the running control signal but also control signals to control, for example, actuators that operate various auxiliary machines and various types of equipment including a wiper, a power window, and a light provided to the vehicle. That is, the remote control unitmay operate these various types of equipment and various auxiliary machines by remote control.

212 500 500 The first acquisition unitacquires, from the inspection equipmentdescribed later, first speed that is speed measured by the inspection equipment. Details will be described later.

213 140 100 500 150 213 140 The second acquisition unitacquires second speed that is the speed displayed on the display deviceduring measurement of the speed of the vehicleby using the inspection equipment. In this embodiment, the second speed is acquired by using the image data imaged by the vehicle cabin camera. Specifically, the second acquisition unituses the image data and a known image recognition technology to acquire as the second speed the speed displayed on the display device.

214 212 213 140 140 202 214 202 214 202 The inspection execution unituses the first speed acquired by the first acquisition unitand the second speed acquired by the second acquisition unitto execute inspection regarding accuracy of the speed displayed on the display device. In this embodiment, the inspection is executed through determination of whether difference between the first speed and the second speed is within a predetermined range. The predetermined range is set as a margin of error that is allowable as the speed displayed on the display device. For example, the predetermined range is 10 km/h or less. The predetermined range is stored in the memoryin advance. The determination is performed in such a way that the first speed is subtracted from the second speed to calculate an absolute value of the difference between the first speed and the second speed, and then whether the absolute value of the difference is within the predetermined range is determined. The inspection execution unitcauses the memoryto store a determination result obtained in this manner. The determination result includes the results that the difference between the first speed and the second speed is within the predetermined range and that the difference between the first speed and the second speed is out of the predetermined range. The inspection execution unitmay cause the memoryto store, in addition to the determination result, the difference between the first speed and the second speed. Details of the inspection will be described later.

3 FIG. 500 500 140 100 500 550 530 520 540 is an explanatory diagram illustrating a configuration of the inspection equipment. The inspection equipmentis used for the inspection of the display devicethat displays the speed of the vehicle. The inspection equipmentincludes a plurality of rollers RL, a rotation number sensor, an equipment control device, a communication device, and a display device.

100 100 100 100 500 100 Each of the plurality of rollers RL is embedded in a road surface in such a manner as to be partly exposed. Each roller RL is rotatable while supporting a wheel WL of the vehicle. Each roller RL includes a rotation axis in a left-right direction of the vehicle. Each roller RL is made of metal. In this embodiment, one wheel WL is supported while being sandwiched between two rollers RL aligned in a front-rear direction of the vehicle. When the vehicleis a four-wheeled vehicle, one inspection equipmentincludes eight rollers RL. The respective rollers RL include configurations similar to one another. Each roller RL rotates in response to rotation of the wheel WL. Therefore, the vehiclesupported by the plurality of rollers RL can rotate the wheel WL without moving in the front-rear direction. Portions of multiple wheels WL may be supported by a single roller RL.

550 530 The rotation number sensordetects a number of rotations of the roller RL. The detected number of rotations is transmitted to the equipment control device.

530 531 532 533 534 531 532 533 534 520 550 533 520 200 520 100 531 3 532 591 The equipment control deviceincludes a computer including a processor, a memory, an input/output interface, and an internal bus. The processor, the memory, and the input/output interfaceare coupled to one another via the internal busin a bidirectionally communicable manner. Moreover, the communication deviceand the rotation number sensorare coupled to the input/output interface. In this embodiment, the communication devicecommunicates with the serverby wireless or wired communication. The communication devicemay communicate with the vehicleby wireless communication. The processorexecutes a program PGstored in the memory, thus implementing various functions including a function as a speed detection unit.

591 550 100 500 100 100 500 591 100 591 100 591 100 200 212 The speed detection unituses the number of rotations of the roller RL detected by the rotation number sensorto measure the speed of the vehiclethat runs on the inspection equipmentwhile being supported by the plurality of rollers RL. Note that “speed” includes the speed of vehiclewhen the vehicleis running on the inspection equipmentbut its actual position does not change. The speed detection unituses the detected number of rotations of the roller RL and a perimeter of the roller RL to calculate circumferential speed of the roller RL. The calculated circumferential speed corresponds to the speed of the vehicle. The speed detection unitmay calculate the speed of the vehicleusing any method utilizing the rotation of the roller RL. The speed detection unittransmits the calculated speed of the vehicleto the server. This speed is the first speed acquired by the first acquisition unit.

540 500 540 591 The display devicedisplays various kinds of information on inspection executed by the inspection equipment. For example, the display devicedisplays in real time the first speed measured by the speed detection unit.

4 FIG. 4 FIG. 100 100 201 200 2 211 111 100 1 115 is a flowchart illustrating a procedure of running control of the vehicleaccording to the first embodiment. This procedure is executed to control the vehicleto run by unmanned driving. In the procedure in, the processorof the serverexecutes the program PG, thus functioning as the remote control unit. Moreover, the processorof the vehicleexecutes the program PG, thus functioning as the vehicle control unit.

1 201 200 300 100 1 201 300 In step S, the processorof the serveracquires vehicle location information using the detection result output from the external sensor. The vehicle location information is locational information as a basis for generating a running control signal. In the present embodiment, the vehicle location information includes the location and orientation of the vehiclein the global coordinate system GC of the factory FC. Specifically, in step S, the processoracquires the vehicle location information using the captured image acquired from the camera as the external sensor.

1 201 100 100 100 100 50 50 202 200 100 100 100 201 100 100 100 More specifically, in step S, the processorfor example, determines the outer shape of the vehiclefrom the captured image, calculates the coordinates of a positioning point of the vehiclein a coordinate system of the captured image, namely, in a local coordinate system, and converts the calculated coordinates to coordinates in the global coordinate system GC, thereby acquiring the location of the vehicle. The outer shape of the vehiclein the captured image may be detected by inputting the captured image to a detection model DM using artificial intelligence, for example. The detection model DM is prepared in the systemor outside the system. The detection model DM is stored in advance in the memoryof the server, for example. An example of the detection model DM is a learned machine learning model that was learned so as to realize either semantic segmentation or instance segmentation. For example, a convolution neural network (CNN) learned through supervised learning using a learning dataset is applicable as this machine learning model. The learning dataset contains a plurality of training images including the vehicle, and a label showing whether each region in the training image is a region indicating the vehicleor a region indicating a subject other than the vehicle, for example. In training the CNN, a parameter for the CNN is preferably updated through backpropagation in such a manner as to reduce error between output result obtained by the detection model and the label. The processorcan acquire the orientation of the vehiclethrough estimation based on the direction of a motion vector of the vehicledetected from change in location of a feature point of the vehiclebetween frames of the captured images using optical flow process, for example.

2 201 200 100 202 200 100 201 100 201 100 In step S, the processorof the serverdetermines a target location to which the vehicleis to move next. In the present embodiment, the target location is expressed by X, Y, and Z coordinates in the global coordinate system GC. The memoryof the servercontains a reference route RR stored in advance as a route along which the vehicleis to run. The route is expressed by a node indicating a departure place, a node indicating a way point, a node indicating a destination, and a link connecting nodes to each other. The processordetermines the target location to which the vehicleis to move next using the vehicle location information and the reference route RR. The processordetermines the target location on the reference route RR ahead of a current location of the vehicle.

3 201 200 100 201 100 100 100 201 100 201 100 100 201 100 100 100 201 100 In step S, the processorof the servergenerates a running control signal for causing the vehicleto run toward the determined target location. The processorcalculates a running speed of the vehiclefrom transition of the location of the vehicleand makes comparison between the calculated running speed and a target speed of the vehicledetermined in advance. If the running speed is lower than the target speed, the processorgenerally determines an acceleration in such a manner as to accelerate the vehicle. If the running speed is higher than the target speed as, the processorgenerally determines an acceleration in such a manner as to decelerate the vehicle. If the vehicleis on the reference route RR, the processordetermines a steering angle and an acceleration in such a manner as to prevent the vehiclefrom deviating from the reference route RR. If the vehicleis not on the reference route RR, in other words, if the vehicledeviates from the reference route RR, the processordetermines a steering angle and an acceleration in such a manner as to return the vehicleto the reference route RR.

4 201 200 100 201 In step S, the processorof the servertransmits the generated running control signal to the vehicle. The processorrepeats the acquisition of vehicle location information, the determination of a target location, the generation of a running control signal, the transmission of the running control signal, and others in a predetermined cycle.

5 111 100 200 6 111 100 120 100 100 111 120 50 100 In step S, the processorof the vehiclereceives the running control signal transmitted from the server. In step S, the processorof the vehiclecontrols the actuator groupof the vehicleusing the received running control signal, thereby causing the vehicleto run at the acceleration and the steering angle indicated by the running control signal. The processorrepeats the reception of a running control signal and the control over the actuator groupin a predetermined cycle. According to the systemin the present embodiment, it becomes possible to move the vehiclewithout using a transport unit such as a crane or a conveyor.

5 FIG. 3 FIG. 140 140 100 500 100 210 500 100 is a flowchart illustrating a procedure of the inspection of the display device. The inspection of the display deviceis executed when the vehiclethat has moved onto the inspection equipmentruns on the roller RL. In this embodiment, the vehicleis controlled by the remote control unitto move to the inspection equipmentby unmanned driving. Specifically, the vehicleis controlled to move in such a manner that the wheel WL is supported by the roller RL illustrated inand to run on the roller RL at predetermined speed. The predetermined speed is, for example, 40 km/h.

140 140 140 500 140 500 The inspection of the display deviceis performed to secure accuracy of the speed displayed on the display device. The speed displayed on the display deviceis measured by using the perimeter of the wheel WL as described above. However, the perimeter of the wheel WL may change due to an influence of tire pressure or the like. Therefore, the inspection equipmentuses the perimeter of the roller RL made of metal or the like for measurement. The roller RL has less change in perimeter due to surrounding environment as compared with the wheel WL. Therefore, the inspection of the speed displayed on the display deviceis executed based on the speed measured by the inspection equipment.

5 FIG. 10 212 213 As illustrated in, at Step S, the first acquisition unitacquires the first speed, and the second acquisition unitacquires the second speed.

20 214 At Step S, the inspection execution unitdetermines whether the difference between the acquired first speed and the acquired second speed is within the predetermined range.

30 214 202 20 At Step S, the inspection execution unitstores in the memorya result of the determination performed at Step S.

30 100 2 As Step Sis completed, the vehiclemoves from the second place PLby unmanned driving, and another inspection step or the like is executed.

20 140 Note that, at Step S, if the difference between the first speed and the second speed is determined to be out of the predetermined range, it is assumed that at least one of the wheel WL, the vehicle speed sensor, and the display devicehas abnormality.

50 214 140 The systemof the first embodiment described above includes the inspection execution unitthat uses the first speed and the second speed to execute the inspection of the display device. Therefore, it can be suppressed that the inspection result depends on an inspector's skill.

50 214 Moreover, according to the systemof the first embodiment, the inspection execution unitdetermines whether the difference between the first speed and the second speed is within the predetermined range to execute the inspection. Therefore, by setting a speed range allowable as an error between the first speed and the second speed as the predetermined range, whether an error is included within this range can be determined.

50 213 150 150 140 150 Moreover, according to the systemof the first embodiment, the second acquisition unituses the image data output by the vehicle cabin camerato acquire the second speed. The vehicle cabin cameraimages the display device. Therefore, the vehicle cabin camerathat images the inside of the vehicle cabin can be utilized to execute the inspection.

6 FIG. 50 50 50 201 215 b b is a block diagram illustrating a configuration of a systemaccording to a second embodiment. The systemof the second embodiment is different from the systemof the first embodiment in that the processorfurther implements a function of a correction unit. Configurations not described below in particular are similar to those of the first embodiment.

215 140 100 214 140 214 140 100 500 215 215 100 The correction unitcorrects the speed displayed on the display deviceof the vehicleif the inspection execution unitdetermines that the difference between the first speed and the second speed is out of the predetermined range. The speed displayed on the display deviceis corrected based on the difference between the first speed and the second speed. An example described is a case in which the predetermined range is set to 10 km/h or less and the difference between the first speed and the second speed calculated by the inspection execution unitis 15 km/h. This case means that the speed displayed on the display deviceof the vehicleis 15 km/h higher than the speed measured on the inspection equipment. The correction unitcalculates a correction value that makes the difference between the first speed and the second speed fall within the predetermined range. The correction value in the above-described example is, for example, -15 km/h. The correction unittransmits this correction value to the vehicle. Note that the correction value may be a value other than the value that makes the difference between the first speed and the second speed zero. That is, the correction value may be any value that makes the difference between the first speed and the second speed fall within the predetermined range. For example, the correction value in the above-described example may be, for example, -6 km/h.

140 215 110 100 215 140 140 The display deviceuses the speed transmitted from the vehicle speed sensor and the correction value transmitted from the correction unitto display corrected speed. Specifically, the vehicle control deviceincluded in the vehiclecalculates an added value of the speed transmitted from the vehicle speed sensor and the correction value transmitted from the correction unit. The calculated speed is transmitted to the display device. The display devicedisplays the corrected speed.

50 215 140 140 b The systemof the second embodiment described above further includes the correction unitthat corrects the speed displayed on the display devicewhen the difference between the first speed and the second speed is determined to be out of the predetermined range. Therefore, an error of the speed displayed on the display devicecan be reduced.

7 FIG. 50 50 200 100 100 50 50 v v v v v b is an explanatory diagram illustrating a schematic configuration of a systemaccording to a third embodiment. This embodiment is different from the first embodiment in that the systemdoes not include the server. Moreover, a vehicleaccording to this embodiment is runnable by autonomous control of the vehicle. Other configurations are the same as those of the first embodiment unless otherwise described. Note that the systemof the third embodiment may be used in combination with the systemof the second embodiment.

111 110 1 112 115 115 115 120 100 112 1 v v v v v v v v In this embodiment, a processorof a vehicle control deviceexecutes the program PGstored in a memory, thus functioning as a vehicle control unit. The vehicle control unitacquires an output result of the sensor and uses the output result to generate the running control signal. The vehicle control unitthen outputs the generated running control signal to operate the actuator group, and thus can control the vehicleto run by autonomous control. In this embodiment, the memorystores, in addition to the program PG, a detection model DM and a reference route RR in advance.

8 FIG. 8 FIG. 100 111 100 1 115 v v v v is a flowchart showing a processing procedure for running control of the vehiclein the second embodiment. In the procedure in, the processorof the vehicleexecutes the program PG, thus functioning as the vehicle control unit.

901 111 110 300 902 111 100 903 111 100 904 111 120 100 111 50 100 100 200 v v v v v v v v v v v v In step S, the processorof the vehicle controlleracquires vehicle location information using detection result output from the camera as the external sensor. In step S, the processordetermines a target location to which the vehicleis to move next. In step S, the processorgenerates a running control signal for causing the vehicleto run to the determined target location. In step S, the processorcontrols the actuator groupusing the generated running control signal, thereby causing the vehicleto run by following a parameter indicated by the running control signal. The processorrepeats the acquisition of vehicle location information, the determination of a target location, the generation of a running control signal, and the control over the actuator in a predetermined cycle. According to the systemin the present embodiment, it is possible to cause the vehicleto run by autonomous control without controlling the vehicleremotely using the server.

7 FIG. 5 FIG. 7 FIG. 111 1 112 125 135 145 125 135 145 212 213 214 111 100 111 215 v v v v v v v v v v v Moreover, as illustrated in, the processorof this embodiment executes the program PGstored in the memory, thus also functioning as a first acquisition unit, a second acquisition unit, and an inspection execution unit. The first acquisition unit, the second acquisition unit, and the inspection execution unitrespectively have functions similar to those of the first acquisition unit, the second acquisition unit, and the inspection execution unitof the first embodiment. Therefore, in this embodiment, processing similar to the inspection method illustrated inis executed by the processorof the vehicle. Note that although not illustrated in, the processormay demonstrate a function similar to that of the correction unitof the second embodiment.

50 50 50 100 v b v Also according to the systemof the third embodiment described above, similarly to the systemsandof the first embodiment and the second embodiment, the running control and the inspection method of the vehiclecan be executed.

213 150 140 213 140 100 300 213 100 213 110 140 (D1) In each embodiment described above, the second acquisition unituses the image data output by the vehicle cabin camerathat images the display device, to acquire the second speed, but the present disclosure is not limited thereto. The second acquisition unitmay acquire the second speed from an imaging device that images the display deviceand provided outside of the vehicle. Such an imaging device is, for example, a camera provided to the factory FC. The imaging device may be one of the plurality of sensorsdescribed above. Moreover, the second acquisition unitmay acquire the second speed from the vehicle speed sensor included in the vehicle. Moreover, the second acquisition unitmay acquire the second speed from the vehicle control devicethat controls display on the display device.

214 214 540 500 500 214 (D2) In each embodiment described above, the inspection execution unitmay perform notification related to the determination result. For example, the inspection execution unitnotifies result that the difference between the first speed and the second speed is within the predetermined range or that the difference is out of the predetermined range. The notification is performed by, for example, displaying visual information on the display deviceprovided to the inspection equipment. The notification may be displayed on a display device different from a speedometer without limitation to the inspection equipment. Moreover, the notification may include, in addition to the determination result, information on the difference between the first speed and the second speed. With such a configuration, the result of the determination performed by the inspection execution unitcan be notified to the inspector.

212 100 213 140 100 212 213 100 100 212 213 100 2 (D3) In each embodiment described above, the first acquisition unitmay acquire the first speed after acceleration of the vehiclemeasured by utilizing the rotation of the roller RL falls within a predetermined range. Moreover, the second acquisition unitmay acquire the second speed after acceleration calculated based on the speed displayed on the display devicefalls within the predetermined range. The predetermined range of acceleration is set as an acceleration range indicating that the vehiclecompletes acceleration and a running state is stable. The predetermined range of acceleration is, for example, 0.1 m/sor less. Moreover, the first acquisition unitand the second acquisition unitmay respectively acquire the first speed and the second speed after predetermined time passes from a start of running of the vehicleon the roller RL. The predetermined time is set as time required for the vehicleto complete acceleration and a running state to be stable. The predetermined time is, for example, 20 seconds. With such a configuration, the first acquisition unitand the second acquisition unitcan acquire the speed when the vehiclecompletes acceleration and the running state is comparatively stable.

214 214 214 214 (D4) In each embodiment described above, the inspection execution unitdetermines whether the difference between the first speed and the second speed is within the predetermined range to execute the inspection, but the present disclosure is not limited thereto. The inspection execution unitmay execute the inspection in any method using the first speed and the second speed. For example, the inspection execution unitmay compare the first speed and the second speed to execute the inspection. The inspection execution unitmay perform the inspection, for example, by comparing the time variation of the first speed with the time variation of the second speed.

100 (D5) In each embodiment described above, the vehicleruns by unmanned driving, but the present disclosure is not limited thereto. The vehicle 100 may run by manned driving in which an occupant drives.

112 112 202 532 v (D6) In each embodiment described above, the memory,,,may be any storage device. Examples of such a storage device include an HDD (hard disc drive), an SSD (solid state drive), and a DRAM (dynamic random access memory).

211 212 213 214 215 500 (D7) In each embodiment described above, at least one function of the remote control unit, the first acquisition unit, the second acquisition unit, the inspection execution unit, and the correction unitmay be executed by the inspection equipment.

100 100 (D8) In each embodiment described above, the vehiclemay have any number of wheels WL. The number of wheels WL is two or more, for example. When the vehiclehas only one wheel, that wheel WL is sandwiched and supported by two rollers RL.

300 300 100 200 100 (E1) In each of the above-described embodiments, the sensoris not limited to the camera but may be the distance measuring device, for example. The distance measuring device is a light detection and ranging (LiDAR) device, for example. In this case, detection result output from the sensormay be three-dimensional point cloud data representing the vehicle. The serverand the vehiclemay acquire the vehicle location information through template matching using the three-dimensional point cloud data as the detection result and reference point cloud data, for example

200 100 (E2) In the above-described first embodiment, the serverperforms the processing from acquisition of vehicle location information to generation of a running control signal. By contrast, the vehiclemay perform at least part of the processing from acquisition of vehicle location information to generation of a running control signal. For example, embodiments (1) to (3) described below are applicable, for example.

200 100 100 200 200 100 100 100 200 120 (1) The servermay acquire vehicle location information, determine a target location to which the vehicleis to move next, and generate a route from a current location of the vehicleindicated by the acquired vehicle location information to the target location. The servermay generate a route to the target location between the current location and a destination or generate a route to the destination. The servermay transmit the generated route to the vehicle. The vehiclemay generate a running control signal in such a manner as to cause the vehicleto run along the route received from the serverand control the actuator groupusing the generated running control signal.

200 100 100 100 100 120 (2) The servermay acquire vehicle location information and transmit the acquired vehicle location information to the vehicle. The vehicle 100 may determine a target location to which the vehicleis to move next, generate a route from a current location of the vehicleindicated by the received vehicle location information to the target location, generate a running control signal in such a manner as to cause the vehicleto run along the generated route, and control the actuator groupusing the generated running control signal.

100 100 100 100 100 200 100 100 100 (3) In the foregoing embodiments (1) and (2), an internal sensor may be mounted on the vehicle, and detection result output from the internal sensor may be used in at least one of the generation of the route and the generation of the running control signal. The internal sensor is a sensor mounted on the vehicle. The internal sensor may include, for example, a sensor that detects a motion state of the vehicle, a sensor that detects an operation state of each part of the vehicle, and a sensor that detects surrounding environment of the vehicle. Specifically, the internal sensor may include a camera, LiDAR, a millimeter wave radar, an ultrasonic wave sensor, a GPS sensor, an acceleration sensor, and a gyroscopic sensor, for example. For example, in the foregoing embodiment (1), the servermay acquire detection result from the internal sensor, and in generating the route, may reflect the detection result from the internal sensor in the route. In the foregoing embodiment (1), the vehiclemay acquire detection result from the internal sensor, and in generating the running control signal, may reflect the detection result from the internal sensor in the running control signal. In the foregoing embodiment (2), the vehiclemay acquire detection result from the internal sensor, and in generating the route, may reflect the detection result from the internal sensor in the route. In the foregoing embodiment (2), the vehiclemay acquire detection result from the internal sensor, and in generating the running control signal, may reflect the detection result from the internal sensor in the running control signal.

100 100 100 v v v (E3) In the above-described third embodiment, the vehiclemay be equipped with an internal sensor, and detection result output from the internal sensor may be used in at least one of generation of a route and generation of a running control signal. For example, the vehiclemay acquire detection result from the internal sensor, and in generating the route, may reflect the detection result from the internal sensor in the route. The vehiclemay acquire detection result from the internal sensor, and in generating the running control signal, may reflect the detection result from the internal sensor in the running control signal.

100 100 100 100 100 120 100 100 100 50 100 50 100 v v v v v v v v v v v v (E4) In the above-described third embodiment, the vehicleacquires vehicle location information using detection result from the external sensor. By contrast, the vehiclemay be equipped with an internal sensor, the vehiclemay acquire vehicle location information using detection result from the internal sensor, determine a target location to which the vehicleis to move next, generate a route from a current location of the vehicleindicated by the acquired vehicle location information to the target location, generate a running control signal for running along the generated route, and control the actuator groupusing the generated running control signal. In this case, the vehicleis capable of running without using any detection result from an external sensor. The vehiclemay acquire target arrival time or traffic congestion information from outside the vehicleand reflect the target arrival time or traffic congestion information in at least one of the route and the running control signal. The functional configuration of the systemmay be entirely provided at the vehicle. Specifically, the processes realized by the systemin the present disclosure may be realized by the vehiclealone.

200 100 200 100 100 300 100 200 200 (E5) In the above-described first embodiment, the serverautomatically generates a running control signal to be transmitted to the vehicle. By contrast, the servermay generate a running control signal to be transmitted to the vehiclein response to operation by an external operator existing outside the vehicle. For example, the external operator may operate an operating device including a display on which a captured image output from the external sensoris displayed, steering, an accelerator pedal, and a brake pedal for operating the vehicleremotely, and a communication device for making communication with the serverthrough wire communication or wireless communication, for example, and the servermay generate a running control signal responsive to the operation on the operating device.

100 100 100 110 120 100 100 130 100 100 100 100 100 100 100 100 (E6) In each of the above-described embodiments, the vehicleis simply required to have a configuration to become movable by unmanned driving. The vehiclemay embodied as a platform having the following configuration, for example. The vehicleis simply required to include at least the vehicle controllerand the actuator groupin order to fulfill three functions including “run,” “turn,” and “stop” by unmanned driving. In order for the vehicleto acquire information from outside for unmanned driving, the vehicleis simply required to include the communication devicefurther. Specifically, the vehicleto become movable by unmanned driving is not required to be equipped with at least some of interior components such as a driver’s seat and a dashboard, is not required to be equipped with at least some of exterior components such as a bumper and a fender or is not required to be equipped with a bodyshell. In such cases, a remaining component such as a bodyshell may be mounted on the vehiclebefore the vehicleis shipped from the factory FC, or a remaining component such as a bodyshell may be mounted on the vehicleafter the vehicleis shipped from the factory FC while the remaining component such as a bodyshell is not mounted on the vehicle. Each of components may be mounted on the vehiclefrom any direction such as from above, from below, from the front, from the back, from the right, or from the left. Alternatively, these components may be mounted from the same direction or from respective different directions. The location determination for the platform may be performed in the same way as for the vehiclein the first embodiments.

100 100 100 100 100 (E7) The vehiclemay be manufactured by combining a plurality of modules. The module means a unit composed of one or more components grouped according to a configuration or function of the vehicle. For example, a platform of the vehiclemay be manufactured by combining a front module, a center module and a rear module. The front module constitutes a front part of the platform, the center module constitutes a center part of the platform, and the rear module constitutes a rear part of the platform. The number of the modules constituting the platform is not limited to three but may be equal to or less than two, or equal to or greater than four. In addition to or instead of the platform, any parts of the vehicledifferent from the platform may be modularized. Various modules may include an arbitrary exterior component such as a bumper or a grill, or an arbitrary interior component such as a seat or a console. Not only the vehiclebut also any types of moving object may be manufactured by combining a plurality of modules. Such a module may be manufactured by joining a plurality of components by welding or using a fixture, for example, or may be manufactured by forming at least part of the module integrally as a single component by casting. A process of forming at least part of a module as a single component is also called Giga-casting or Mega-casting. Giga-casting can form each part conventionally formed by joining multiple parts in a moving object as a single component. The front module, the center module, or the rear module described above may be manufactured using Giga-casting, for example.

(E8) A configuration for realizing running of a vehicle by unmanned driving is also called a "Remote Control auto Driving system". Conveying a vehicle using Remote Control Auto Driving system is also called "self-running conveyance". Producing the vehicle using self-running conveyance is also called "self-running production". In self-running production, for example, at least part of the conveyance of vehicles is realized by self-running conveyance in a factory where the vehicle is manufactured.

(E9) In each of the embodiments described above, some or all of the functions and processes that are implemented by software may also be implemented by hardware. Further, some or all of the functions and processes that are implemented by hardware may also be implemented by software. Examples of the hardware used to implement various functions in each of the embodiments described above include various circuits, such as integrated circuits and discrete circuits.

The present disclosure is not limited to the embodiments described above but can be implemented in a variety of configurations without departing from the spirit of the present disclosure. For example, in order to solve some or all of the problems described above or to achieve some or all of the effects described above, the technical features of the embodiments can be substituted or combined as appropriate. In addition, unless the technical feature is explained herein as being essential, it can be eliminated as appropriate. For example, the present disclosure may be implemented in embodiments described below.

(1) According to one embodiment of the present disclosure, a system is provided. The system includes a first acquisition unit, a second acquisition unit, and an inspection execution unit. The first acquisition unit acquires first speed from inspection equipment. The inspection equipment includes a roller that is rotatable while supporting a wheel of a vehicle and measures speed of the vehicle by utilizing a rotation of the roller. The first speed is the speed measured by the inspection equipment. The second acquisition unit acquires second speed during measurement of the speed of the vehicle by using the inspection equipment. The second speed is speed displayed on a display device included in the vehicle to display the speed of the vehicle. The inspection execution unit uses the acquired first speed and the acquired second speed to execute inspection of the display device.

The system of this embodiment includes the inspection execution unit that uses the first speed that is the speed measured by the inspection equipment and the second speed that is the speed displayed on the display device of the vehicle to execute the inspection of the display device. Therefore, it can be suppressed that an inspection result depends on an inspector's skill.

(2) In the system of the aforementioned embodiment, the inspection execution unit may determine whether difference between the first speed and the second speed is within a predetermined range to execute the inspection.

According to the system of this embodiment, the inspection execution unit determines whether the difference between the first speed and the second speed is within the predetermined range to execute the inspection. Therefore, by setting a speed range allowable as an error of the second speed as the predetermined range, whether the second speed is included within this range can be determined.

(3) In the system of the aforementioned embodiment, the second acquisition unit may acquire the second speed by using image data output by an imaging device that images the display device.

According to the system of this embodiment, the second acquisition unit may acquire the second speed by using the image data output by the imaging device that images the display device. Therefore, a camera provided to a vehicle cabin or a camera that images the vehicle can be utilized to execute the inspection.

(4) The system of the aforementioned embodiment may further include a correction unit that corrects the speed displayed on the display device based on the difference between the first speed and the second speed when the difference between the first speed and the second speed is determined to be out of the predetermined range. The display device may display the corrected speed.

The system of this embodiment further includes the correction unit that corrects the speed displayed on the display device when the difference between the first speed and the second speed is determined to be out of the predetermined range. Therefore, an error of the speed displayed on the display device can be reduced.

(5) In the system of the aforementioned embodiment, the inspection execution unit may further execute notification related to a determination result.

According to the system of this embodiment, the inspection execution unit executes the notification related to the determination result. Therefore, the determination performed by the inspection execution unit can be notified to the inspector.

(6) The system of the aforementioned embodiment may further include a server provided outside of the vehicle. The server may include the first acquisition unit, the second acquisition unit, the inspection execution unit, and a remote control unit. The remote control unit may generate a running control signal to control an actuator included in the vehicle, and transmit the running control signal to the vehicle to control autonomous driving of the vehicle. The remote control unit may control the vehicle to move to the inspection equipment in such a manner that the wheel of the vehicle is supported by the roller, and control the vehicle to run at predetermined speed.

According to the system of this embodiment, the server provided outside of the vehicle includes the first acquisition unit, the second acquisition unit, the inspection execution unit, and the remote control unit. Therefore, the inspection of the vehicle can be executed autonomously by using the server.